A frog-like jumping power device, control method and robot

Abstract

This application discloses a frog-inspired jumping propulsion device, control method, and robot. The frog-inspired jumping propulsion device includes a frame; a forelimb mechanism for adjusting the jumping path; a hindlimb mechanism for jumping; a first drive mechanism including a first drive component and a first traction rope component, the first drive component driving the first traction rope component, which in turn drives the forelimb mechanism; a second drive mechanism including a second drive component and a second traction rope component, the second drive component driving the second traction rope component, which in turn drives the hindlimb mechanism; and an electronic control system module electrically connected to both the first and second drive mechanisms. The first traction rope component allows for adjustable joint angles in the forelimb mechanism, while the second traction rope component enables the hindlimb mechanism to complete the entire jumping motion. This rope-driven approach significantly reduces the overall mass, making the device more flexible, and the drive design is more flexible, thereby improving the biomimetic effect.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a frog-inspired jumping power device, control method, and robot. Background Technology

[0002] With the development of the times, human beings have increasingly higher requirements for underground exploration, archaeological excavation, and deep-sea collection. The complex and ever-changing environment places high demands on the movement of robots. When faced with obstacles that are difficult to overcome, jumping robots have stronger maneuverability and faster movement speed compared to other robots. Currently, jumping robots have begun to be widely studied, but it is difficult to highly replicate the movement principles of jumping biomimetic robots, and the basic mechanisms are difficult to realize flexible muscle tissue movement.

[0003] For example, in the prior art disclosed in CN115180037A, the hind limb drive device uses a combination of an electronically controlled servo motor and an incomplete gear. Although the above structure can control the hind limb deflection angle relatively accurately, the use of components increases the overall weight of the mechanism, increases the manufacturing difficulty, cannot accurately simulate the movement principle of a frog's limbs, and the repetitive movement process is slow.

[0004] For example, the existing technology with publication number CN114161441A designs a complete gear train mechanism, which outputs power through the meshing of a motor, internal and external gears, and planetary gears. The overall mechanism is complex, heavy, difficult to maintain, and lacks reliability. Summary of the Invention

[0005] The purpose of this application is to at least solve one of the technical problems existing in the prior art. To this end, this application proposes a frog-inspired jumping power device, which aims to solve the problems of large weight and low biomimicry of the jumping process in existing jumping robots.

[0006] This application also proposes a control method for the above-mentioned frog-like jumping power device.

[0007] This application also proposes a robot that includes the above-mentioned frog-like jumping propulsion device.

[0008] According to an embodiment of the first aspect of this application, the frog-like jumping propulsion device includes:

[0009] frame;

[0010] Forelimb mechanism, mounted on the frame;

[0011] The hind limb mechanism is mounted on the frame opposite to the forelimb mechanism;

[0012] A first drive mechanism is mounted on the frame. The first drive mechanism includes a first drive component and a first traction rope component. The first drive component is used to drive the first traction rope component. The first traction rope component is used to drive the forelimb mechanism to move, so that the forelimb mechanism can adjust the jumping path.

[0013] A second drive mechanism is mounted on the frame. The second drive mechanism includes a second drive component and a second traction rope component. The second drive component drives the second traction rope component, and the second traction rope component drives the hind limb mechanism to move, so that the hind limb mechanism is used for jumping.

[0014] An electronic control system module is mounted on the frame. The electronic control system module is electrically connected to the first drive mechanism and the second drive mechanism respectively, so that the first drive mechanism and the second drive mechanism cooperate to operate.

[0015] The frog-like jumping power device according to the first aspect of this application has at least the following beneficial effects: the angle at the joint of the forelimb mechanism is adjustable by driving the first traction rope component, and the hindlimb mechanism completes the entire jumping action by driving the second traction rope component. The overall mass is greatly reduced by the rope drive, making the device more flexible, and the drive design is more flexible, thereby improving the biomimetic effect.

[0016] According to the frog-like jumping power device of the first aspect embodiment of this application, the first driving component includes a motor, which is capable of rotating forward or in reverse, and the electronic control system module is used to control the motor to drive the first traction rope component to tighten and relax.

[0017] According to the first aspect of the present application, the frog-like jumping power device includes an upper forelimb, a lower forelimb, and a first torsion spring. The upper forelimb is movably mounted on the frame, and the lower forelimb is rotatably connected to the upper forelimb. The first torsion spring is disposed at the connection between the lower forelimb and the upper forelimb.

[0018] According to the frog-like jumping power device of the first aspect of this application, the second driving component includes an air pump, a cylinder assembly and a piston rod. The piston rod is disposed on the cylinder assembly, and the air pump is connected to the cylinder assembly to drive the piston rod to reciprocate, so that the piston rod drives the second traction rope component to tighten and relax.

[0019] According to the frog-like jumping power device according to the first aspect of the present application, the hind limb mechanism includes a hind limb lower arm, a hind limb upper arm, a webbed foot, a second torsion spring, and a third torsion spring. The hind limb upper arm is movably mounted on the frame. The hind limb upper arm is rotatably connected to the hind limb lower arm. The webbed foot is rotatably connected to the hind limb lower arm. The second torsion spring is disposed at the connection between the hind limb upper arm and the hind limb lower arm. The third torsion spring is disposed at the connection between the webbed foot and the hind limb lower arm.

[0020] According to the frog-like jumping power device described in the first aspect of this application, the frame is further provided with a limiting plate, which cooperates with the frame to limit the range of motion of the piston rod.

[0021] According to the frog-like jumping power device according to the first aspect of the present application, the forelimb mechanism is provided with a first mounting space for the first traction rope component to pass through, and the first mounting space is used to position the first traction rope component.

[0022] And / or the hind limb mechanism is provided with a second mounting space for the second traction rope component to pass through, and the second mounting space is used to position the second traction rope component.

[0023] According to the first aspect of the present application, the frog-like jumping power device has a streamlined outer shell on the frame, and the outer shell is made of a waterproof material.

[0024] The control method of the frog-like jumping power device according to the second aspect of this application includes the following steps:

[0025] The first driving component drives the first traction rope component to move, thereby causing the forelimb mechanism to move and adjust the angle between the frame and the ground;

[0026] The second drive component drives the second traction rope component to tighten, thereby enabling the hind limb mechanism to store energy;

[0027] The second drive component drives the second traction rope component to relax, thereby enabling the hind limb mechanism to perform a jumping action.

[0028] The robot according to a third aspect of this application includes: a frog-like jumping power device as described in a first aspect of this application.

[0029] It is easy to understand that the control method of the frog-like jumping power device in the second aspect embodiment of this application and the robot in the third aspect embodiment of this application both have the same technical effects as the frog-like jumping power device in the first aspect embodiment, and therefore will not be described again.

[0030] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0031] The present application will be further described below with reference to the accompanying drawings and embodiments;

[0032] Figure 1 This is a schematic diagram of the frog-like jumping power device according to an embodiment of this application;

[0033] Figure 2 This is a schematic diagram of the robot structure according to an embodiment of this application.

[0034] Figure label:

[0035] 100. Rack;

[0036] 200. Forelimb mechanism; 210. Forelimb upper arm; 220. Forelimb lower arm; 230. First torsion spring;

[0037] 300. Hind limb mechanism; 310. Fins; 320. Hind limb upper arm; 330. Hind limb lower arm; 340. Second torsion spring; 350. Third torsion spring; 360. Limiting plate;

[0038] 410. Motor; 420. First traction rope component;

[0039] 510. Air pump; 520. Second traction rope assembly; 530. Piston rod; 540. Cylinder assembly;

[0040] 600. Electrical control system module;

[0041] 700. Outer shell. Detailed Implementation

[0042] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0043] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0044] In the description of this application, "several" means one or more, "more than" means at least two, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0045] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of the above terms in this application after considering the specific content of the technical solution.

[0046] Reference Figures 1 to 2 The frog-like jumping power device of the first aspect of this application is applied to a bionic robot. The frog-like jumping power device includes a frame 100, a forelimb mechanism 200, a hindlimb mechanism 300, a first drive mechanism, a second drive mechanism, and an electronic control system module 600.

[0047] The frame 100 serves as a support platform, with the forelimb mechanism 200 located at the front end of the frame 100 and the hindlimb mechanism 300 located at the rear end of the frame 100. The forelimb mechanism 200 and the hindlimb mechanism 300 are symmetrically distributed on both sides with the center line of the length direction of the frame 100 as the reference. The forelimb mechanism 200 and the hindlimb mechanism 300 are arranged to improve the quality of biomimicry by imitating the body shape of a frog.

[0048] The forelimb mechanism 200 is mounted on the frame 100 and is used to adjust the jumping path. The hindlimb mechanism 300 is mounted on the frame 100 opposite to the forelimb mechanism 200 and is used for jumping. A first drive mechanism is mounted on the frame 100 and includes a first drive component and a first traction rope component 420. The first drive component drives the first traction rope component 420, which in turn drives the forelimb mechanism 200 to adjust the jumping path. A second drive mechanism is mounted on the frame 100 and includes a second drive component and a second traction rope component 520. The second drive component drives the second traction rope component 520, which in turn drives the hindlimb mechanism 300 to jump. An electronic control system module 600 is mounted on the frame 100 and is electrically connected to both the first and second drive mechanisms to coordinate their movements and achieve high-quality, continuous frog-like jumping motions.

[0049] Reference Figures 1 to 2The frog-like jumping power device of the first aspect of this application makes the angle at the joint of the forelimb mechanism 200 adjustable by driving the first traction rope component 420, and makes the hindlimb mechanism 300 complete the entire jumping action by driving the second traction rope component 520. The rope-driven method greatly reduces the overall mass, making the device more flexible, and the driving design is more flexible, thereby improving the biomimetic effect.

[0050] In some embodiments, the electronic control system module 600 includes a power source, relays, a microcontroller, a communication module, etc., so that it can communicate and control the first driving component and the second driving component respectively. Control commands can be input to the electronic control system module 600 and executed by the first driving component and the second driving component, thereby improving the ease of use while ensuring the control accuracy of the bionic jumping action.

[0051] In some embodiments of this application, the first driving component includes a motor 410, which is capable of rotating forward or in reverse. An electronic control system module 600 controls the motor 410 to drive the first traction rope component 420 to tighten and relax. It is understood that it is relatively easy to achieve the action of changing the angle of the forelimbs. Therefore, directly driving the forelimbs with the motor 410 ensures the accuracy of the angle change and improves the biomimetic effect. In some embodiments, the motor 410 is directly fixedly connected to the frame 100, and a corresponding connector is provided on the shaft of the motor 410 to connect with the first traction rope component 420. The forward or reverse rotation of the motor 410 is used to adjust the first traction rope component 420, thereby completing the action of changing the angle.

[0052] In some embodiments of this application, the forelimb mechanism 200 includes an upper forelimb arm 210, a lower forelimb arm 220, and a first torsion spring 230. The upper forelimb arm 210 is movably mounted on the frame 100, and the lower forelimb arm 220 is rotatably connected to the upper forelimb arm 210. The first torsion spring 230 is disposed at the connection between the lower forelimb arm 220 and the upper forelimb arm 210. It is understood that after the lower forelimb arm 220 and the upper forelimb arm 210 rotate relative to each other, the included angle between them will change, thereby causing the included angle between the frame 100 and the ground to change.

[0053] In some embodiments, when the first traction rope component 420 is contracted by the motor 410, the angle between the upper arm 210 and the lower arm 220 of the forelimb decreases, the angle between the entire mechanism and the ground decreases, and the first torsion spring 230 at its joint stores energy; when the motor 410 moves in the opposite direction to make the traction rope quickly relax, the action of the second drive mechanism is coordinated to achieve the jump, and at the same time as the potential energy of the first torsion spring 230 jumps, the frame 100 can achieve the predetermined trajectory according to the adjusted height.

[0054] In some embodiments of this application, the second driving component includes an air pump 510, a cylinder assembly 540, and a piston rod 530. The piston rod 530 is disposed on the cylinder assembly 540. The air pump 510 is connected to the cylinder assembly 540 to drive the piston rod 530 to reciprocate, thereby causing the piston rod 530 to tighten and relax the second traction rope component 520. It is understood that the air pump 510 is controlled by the electronic control system module 600. The piston rod 530 is embedded in the cylinder assembly 540 and is retractable. The air pump 510 can drive the piston rod 530 on the cylinder assembly 540 to move, and the movement of the piston rod 530 in turn drives the movement of the second traction rope component 520, thereby driving the hind limb mechanism 300.

[0055] More specifically, the cylinder assembly 540 includes a cylinder body, which is fixedly connected to the frame 100 and located in the middle position; the piston rod 530 is located at the rear end of the cylinder and nested with the cylinder body, and can move longitudinally along the cylinder body to drive the traction rope. The traction rope is flexible and can move with the piston rod 530 within a large range based on its own flexibility, and drive the rear limb to move, which improves the convenience of designing the actuator and improves the accuracy of the drive.

[0056] In some embodiments of this application, a limiting plate 360 ​​is further provided on the frame 100. The limiting plate 360 ​​cooperates with the frame 100 to limit the range of motion of the piston rod 530. It is understood that the limiting plate 360 ​​is fixed to the frame 100 to limit the range of motion of the piston rod 530 and to limit the positional movement of the second traction rope component 520, thereby eliminating its influence on the movement of the mechanism.

[0057] In some embodiments, the frame 100 is also equipped with a winding assembly, mainly to facilitate the later adjustment of the traction rope length and position limitation. The motor 410 moves under the drive of an electrical signal, and under the action of the winding assembly, it realizes the winding and unwinding of the forelimb traction rope; the air pump 510 starts to pump air under the action of the electronic control system module 600, and the solenoid valve adjusts the passage according to the received signal, thereby realizing the reciprocating motion of the piston rod 530 in the cylinder assembly 540. Under the action of the winding assembly and the limiting plate 360, the traction rope continuously tightens and relaxes during the axial movement of the piston rod 530, acting on the corresponding hind limb part to control the movement of the hind limb and improve the control accuracy.

[0058] In some embodiments of this application, the hind limb mechanism 300 includes a hind limb lower arm 330, a hind limb upper arm 320, a fin 310, a second torsion spring 340, and a third torsion spring 350. The hind limb upper arm 320 is movably mounted on the frame 100. The hind limb upper arm 320 is rotatably connected to the hind limb lower arm 330. The fin 310 is rotatably connected to the hind limb lower arm 330. The second torsion spring 340 is disposed at the connection between the hind limb upper arm 320 and the hind limb lower arm 330. The third torsion spring 350 is disposed at the connection between the fin 310 and the hind limb lower arm 330. Understandably, when the second traction rope component 520 tightens, it will drive the upper arm 320 and the lower arm 330 of the hind limb to rotate around the axis in a circular motion. At the same time, the angle between the upper arm 320 and the lower arm 330 of the hind limb decreases, and the second torsion spring 340 placed between the angles will undergo elastic deformation. In this process, the kinetic energy of the cylinder assembly 540 is converted into the elastic potential energy of the second torsion spring 340. During this process, the center of gravity of the entire mechanism shifts downward, completing the entire energy storage process.

[0059] Following the aforementioned process, the cylinder assembly 540 reverses its operation based on an electrical signal, entering a release state. At this time, the second traction rope assembly 520 relaxes under the influence of the piston rod 530. This second traction rope assembly 520 then drives the upper arm 320 and lower arm 330 of the hind limb to perform a counter-circular motion around the axis of rotation. Simultaneously, the angle between the upper arm 320 and lower arm 330 increases. Due to the extremely short duration of this action, the elastic potential energy of the second torsion spring 340 during the aforementioned process is converted into the kinetic energy of the entire machine, thus achieving the jumping process. Throughout the entire jumping process, the mechanism cyclically executes the above process while in the air, thereby forming a periodic jumping cycle.

[0060] More specifically, when the overall structure lands after completing this jump, the flippers 310 can provide a cushioning effect for the vibration, and the third torsion spring 350 placed between the flippers 310 and the hind limb forearm 330 can convert some of the energy upon landing into elastic potential energy, thereby improving the reliability of the overall structure and extending its service life.

[0061] In some embodiments of this application, the forelimb mechanism 200 has a first mounting space for the first traction rope component 420 to pass through, and the first mounting space is used to position the first traction rope component 420. The hindlimb mechanism 300 has a second mounting space for the second traction rope component 520 to pass through, and the second mounting space is used to position the second traction rope component 520. It is understood that the first and second mounting spaces are used for the traction ropes to pass through or be positioned. The first traction rope component 420 includes symmetrically arranged traction ropes and is respectively connected to the left and right symmetrically distributed forelimb mechanisms 200, and the two forelimb mechanisms 200 are synchronously controlled by a motor 410. The second traction rope component 520 includes symmetrically arranged traction ropes and is respectively connected to the left and right symmetrically distributed hindlimb mechanisms 300, and the two forelimb mechanisms 200 are synchronously controlled by a piston rod 530.

[0062] Meanwhile, the arrangement in which the first traction rope component 420 passes through the first installation space and the second traction rope component 520 passes through the second installation space not only avoids swaying of the traction ropes due to their flexibility, but also prevents mutual interference.

[0063] In some embodiments of this application, the frame 100 is provided with a streamlined outer shell 700, which protects the internal structure while reducing resistance during overall movement.

[0064] In some embodiments, to meet the requirements of underwater operations, the outer shell 700 is made of a highly waterproof material, and all kinds of electrical modules or components are fixed on the inner wall of the protective shell 700 and electrically connected respectively.

[0065] It should be noted that the forelimb mechanism 200 is controlled by a motor 410. Adjusting the angle at the joints adjusts the angle between the entire robot and the ground, controlling the direction of movement. The cylinder assembly 540 drives the first traction rope component 420 to contract and expand, causing the hindlimb mechanism 300 to change angle, thereby achieving energy conversion. The energy conversion function is then used to jump and achieve landing cushioning. Since the forelimb mechanism 200 is controlled by the motor 410 and the hindlimb mechanism 300 is controlled by the cylinder assembly 540, the problem of relatively simple power systems in existing jumping robots is solved. Based on the rope-driven method of the first traction rope component 420 and the second traction rope component 520, the design freedom of the mechanism's movement is high. Combined with the targeted structural design of the forelimb mechanism 200 and the hindlimb mechanism 300, the impact and vibration of the jump landing are reduced, and energy dissipation is reduced. This solves the problems of low reliability, high energy consumption, and low biomimicry of the frog jumping process in existing jumping robots.

[0066] Reference Figures 1 to 2The control method of the frog-jumping power device according to the second aspect of this application, which is the same as the control method of the frog-jumping power device according to the first aspect of this application, includes the following steps:

[0067] The first drive component drives the first traction rope component 420 to move, thereby driving the forelimb mechanism 200 to move and adjust the angle between the frame 100 and the ground.

[0068] The second drive component drives the second traction rope component 520 to tighten, thereby driving the hind limb mechanism 300 to store energy.

[0069] The second drive component drives the second traction rope component 520 to unwind, thereby enabling the hind limb mechanism 300 to perform a jumping action.

[0070] More specifically, the working principle includes: when the motor 410 rotates forward, it drives the first traction rope component 420 to retract, reducing the angle between the upper arm 210 and the lower arm 220 of the forelimb, thereby adjusting the angle between the whole machine and the ground, thus controlling the jump height and movement distance and adjusting the jump path, and vice versa; when the electronic control system module 600 drives the air pump 510, the air pump 510 acts on the cylinder to complete the reciprocating motion of the piston rod 530, the piston rod 530 will drive the second traction rope component 520 fixed to it to realize the second traction. The contraction and relaxation of the rope component 520 drives the upper arm 320 and lower arm 330 of the hind limbs to move. The change in the angle between these arms acts on the second torsion spring 340, located between the upper arm 320 and lower arm 330. During the reciprocating motion of the piston rod 530, the kinetic energy of the air pump 510 is converted into the elastic potential energy of the second torsion spring 340, which is then converted into the mechanical energy of the entire mechanism. After completing the entire energy conversion process, the jumping motion is achieved, and the cycle repeats. After the process is completed, the first traction rope component 420 and the second traction rope component 520 need to return to their original positions to await the next operation.

[0071] Reference Figures 1 to 2 The control method of the frog-like jumping power device in the second aspect of this application can better reproduce the unique trunk structure and power structure of a frog.

[0072] Reference Figures 1 to 2 The robot in the third aspect of this application can be a jumping robot. The robot includes the frog-like jumping power device of the first aspect of this application. Because it has a frog-like jumping power device based on pneumatic rope drive, it can better solve the problems of the existing jumping robot's relatively simple power system, low reliability and high energy consumption, and low degree of biomimicry of the frog jumping process.

[0073] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A frog-inspired jumping propulsion device, characterized in that, include: frame; Forelimb mechanism, mounted on the frame; The hind limb mechanism is mounted on the frame opposite to the forelimb mechanism; A first drive mechanism is mounted on the frame. The first drive mechanism includes a first drive component and a first traction rope component. The first drive component is used to drive the first traction rope component. The first traction rope component is used to drive the forelimb mechanism to move, so that the forelimb mechanism can adjust the jumping path. A second drive mechanism is mounted on the frame. The second drive mechanism includes a second drive component and a second traction rope component. The second drive component drives the second traction rope component, and the second traction rope component drives the hind limb mechanism to move, so that the hind limb mechanism is used for jumping. An electronic control system module is mounted on the frame. The electronic control system module is electrically connected to the first drive mechanism and the second drive mechanism respectively, so that the first drive mechanism and the second drive mechanism cooperate to operate. The hind limb mechanism includes a hind limb lower arm, a hind limb upper arm, a fin, a second torsion spring, and a third torsion spring. The hind limb upper arm is movably mounted on the frame. The hind limb upper arm is rotatably connected to the hind limb lower arm. The fin is rotatably connected to the hind limb lower arm. The second torsion spring is located at the connection between the hind limb upper arm and the hind limb lower arm. The third torsion spring is located at the connection between the fin and the hind limb lower arm. When the second traction rope component is tightened, it will drive the upper arm and the lower arm of the hind limb to perform a circular motion around the axis of rotation. At the same time, the angle between the upper arm and the lower arm of the hind limb decreases, and the second torsion spring placed between the angles will undergo elastic deformation. When the second traction rope component relaxes, it will drive the upper arm and lower arm of the hind limb to perform a counter-circular motion around the axis of rotation. At the same time, the angle between the upper arm and lower arm of the hind limb increases. Due to the extremely short duration of action, the second torsion spring converts the elastic potential energy into the kinetic energy of the entire machine during the above process to achieve the jumping process.

2. The frog-like jumping power device according to claim 1, characterized in that: The first driving component includes a motor capable of rotating forward or in reverse, and the electronic control system module is used to control the motor to drive the first traction rope component to tighten and relax.

3. The frog-like jumping power device according to claim 2, characterized in that: The forelimb mechanism includes an upper forelimb arm, a lower forelimb arm, and a first torsion spring. The upper forelimb arm is movably mounted on the frame, and the lower forelimb arm is rotatably connected to the upper forelimb arm. The first torsion spring is disposed at the connection between the lower forelimb arm and the upper forelimb arm.

4. The frog-like jumping power device according to claim 1, characterized in that: The second drive component includes an air pump, a cylinder assembly, and a piston rod. The piston rod is mounted on the cylinder assembly, and the air pump is connected to the cylinder assembly to drive the piston rod to reciprocate, so that the piston rod causes the second traction rope component to tighten and relax.

5. The frog-like jumping power device according to claim 4, characterized in that: The frame is also provided with a limiting plate, which cooperates with the frame to limit the range of motion of the piston rod.

6. The frog-like jumping power device according to claim 1, characterized in that: The forelimb mechanism is provided with a first mounting space for the first traction rope component to pass through, and the first mounting space is used to position the first traction rope component. And / or the hind limb mechanism is provided with a second mounting space for the second traction rope component to pass through, and the second mounting space is used to position the second traction rope component.

7. The frog-like jumping power device according to claim 1, characterized in that: The frame is equipped with a streamlined outer shell, which is made of waterproof material.

8. A control method for a frog-like jumping power device as described in any one of claims 1 to 7, characterized in that, Includes the following steps; The first driving component drives the first traction rope component to move, thereby causing the forelimb mechanism to move and adjust the angle between the frame and the ground; The second drive component drives the second traction rope component to tighten, thereby enabling the hind limb mechanism to store energy; The second drive component drives the second traction rope component to relax, thereby enabling the hind limb mechanism to perform a jumping action.

9. A robot, characterized in that, include: The frog-like jumping power device as described in any one of claims 1 to 7.

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